Mirror tilt actuator

ABSTRACT

In some embodiments, a depth map acquisition system, includes a housing, a light source for emitting light to illuminate objects in a scene subject to depth mapping, fixedly mounted to the housing, a mirror tilt actuator, fixedly mounted to the housing, for tilting a mirror fixedly mounted to the mirror tilt actuator, a mirror fixedly mounted to the mirror tilt actuator, for reflecting light from the light source to the objects, and a partially transparent photosensitive detector in the direct path of the light from the mirror to the objects.

BACKGROUND Technical Field

This disclosure relates generally to depth map acquisition systems, and,more specifically, to tiltable mirrors for depth map acquisitionsystems.

Description of the Related Art

In 3D computer graphics, a depth map is an image or image channel thatcontains information relating to the distance of the surfaces of sceneobjects from a viewpoint. Many potential applications for depth mapsexist in the functions or potential functions of miniature cameras.Miniature cameras, such as those typically used in mobile devices suchas cellphones and other multifunction devices, could provide additionalfunctions to the user if depth maps could be easily acquired.

In such devices, however, space is a premium and every effort is made tominimize the camera size.

SUMMARY OF EMBODIMENTS

In some embodiments, a depth map acquisition system includes a housing,a light source for emitting light to illuminate objects in a scenesubject to depth mapping, fixedly mounted to the housing, a mirror tiltactuator, fixedly mounted to the housing, for tilting a mirror fixedlymounted to the mirror tilt actuator, a mirror fixedly mounted to themirror tilt actuator, for reflecting light from the light source to theobjects, and a partially transparent photosensitive detector in thedirect path of the light from the mirror to the objects.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates a block diagram of a portable multifunction device inaccordance with some embodiments.

FIG. 2 illustrates a portable multifunction device in accordance withsome embodiments.

FIG. 3 depicts components of a depth map acquisition system for use inportable multifunction device in accordance with some embodiments.

FIG. 4 depicts operation of a depth map acquisition system for use inportable multifunction device in accordance with some embodiments.

FIG. 5 illustrates a mirror tilt actuator for use with a depth mapacquisition system for use in portable multifunction device inaccordance with some embodiments.

FIG. 6 depicts a magnetic field associated with a mirror tilt actuatorfor use with a depth map acquisition system for use in portablemultifunction device in accordance with some embodiments.

FIG. 7 illustrates a mirror tilt actuator for use with a depth mapacquisition system for use in portable multifunction device inaccordance with some embodiments.

FIG. 8 depicts a magnetic field associated with a mirror tilt actuatorfor use with a depth map acquisition system for use in portablemultifunction device in accordance with some embodiments.

FIG. 9A illustrates components of a mirror tilt actuator for use with adepth map acquisition system for use in portable multifunction device inaccordance with some embodiments.

FIG. 9B depicts components of a mirror tilt actuator for use with adepth map acquisition system for use in portable multifunction device inaccordance with some embodiments.

FIG. 9C illustrates components of a mirror tilt actuator for use with adepth map acquisition system for use in portable multifunction device inaccordance with some embodiments.

FIG. 10 depicts components of a mirror tilt actuator for use with adepth map acquisition system for use in portable multifunction device inaccordance with some embodiments.

FIG. 11A illustrates components of a mirror tilt actuator for use with adepth map acquisition system for use in portable multifunction device inaccordance with some embodiments.

FIG. 11B depicts components of a mirror tilt actuator for use with adepth map acquisition system for use in portable multifunction device inaccordance with some embodiments.

FIG. 12 illustrates a mirror tilt actuator for use with a depth mapacquisition system for use in portable multifunction device inaccordance with some embodiments.

FIG. 13 depicts a mirror tilt actuator for use with a depth mapacquisition system for use in portable multifunction device inaccordance with some embodiments.

FIG. 14 illustrates a mirror tilt actuator for use with a depth mapacquisition system for use in portable multifunction device inaccordance with some embodiments.

FIG. 15 depicts a mirror tilt actuator for use with a depth mapacquisition system for use in portable multifunction device inaccordance with some embodiments.

FIG. 16 illustrates motion during operation of a mirror tilt actuatorfor use with a depth map acquisition system for use in portablemultifunction device in accordance with some embodiments.

FIG. 17 depicts a mirror tilt actuator for use with a depth mapacquisition system for use in portable multifunction device inaccordance with some embodiments.

FIG. 18 illustrates a mirror tilt actuator for use with a depth mapacquisition system for use in portable multifunction device inaccordance with some embodiments.

FIG. 19 depicts a mirror tilt actuator for use with a depth mapacquisition system for use in portable multifunction device inaccordance with some embodiments.

FIG. 20 is a flow diagram illustrating one embodiment of a method foroperating a depth map acquisition system according to some embodiments.

FIG. 21 is a flow diagram illustrating one embodiment of a method foroperating a depth map acquisition system according to some embodiments.

FIG. 22 is a flow diagram illustrating one embodiment of a method foroperating a depth map acquisition system according to some embodiments.

FIG. 23 is a flow diagram illustrating one embodiment of a method foroperating a depth map acquisition system according to some embodiments.

FIG. 24 is a flow diagram illustrating one embodiment of a method foroperating a depth map acquisition system according to some embodiments.

FIG. 25 illustrates an example computer system configured to implementaspects of the system and method for depth map acquisition.

This specification includes references to “one embodiment” or “anembodiment.” The appearances of the phrases “in one embodiment” or “inan embodiment” do not necessarily refer to the same embodiment.Particular features, structures, or characteristics may be combined inany suitable manner consistent with this disclosure.

“Comprising.” This term is open-ended. As used in the appended claims,this term does not foreclose additional structure or steps. Consider aclaim that recites: “An apparatus comprising one or more processor units. . . .” Such a claim does not foreclose the apparatus from includingadditional components (e.g., a network interface unit, graphicscircuitry, etc.).

“Configured To.” Various units, circuits, or other components may bedescribed or claimed as “configured to” perform a task or tasks. In suchcontexts, “configured to” is used to connote structure by indicatingthat the units/circuits/components include structure (e.g., circuitry)that performs those task or tasks during operation. As such, theunit/circuit/component can be said to be configured to perform the taskeven when the specified unit/circuit/component is not currentlyoperational (e.g., is not on). The units/circuits/components used withthe “configured to” language include hardware—for example, circuits,memory storing program instructions executable to implement theoperation, etc. Reciting that a unit/circuit/component is “configuredto” perform one or more tasks is expressly intended not to invoke 35U.S.C. § 112, sixth paragraph, for that unit/circuit/component.Additionally, “configured to” can include generic structure (e.g.,generic circuitry) that is manipulated by software and/or firmware(e.g., an FPGA or a general-purpose processor executing software) tooperate in manner that is capable of performing the task(s) at issue.“Configure to” may also include adapting a manufacturing process (e.g.,a semiconductor fabrication facility) to fabricate devices (e.g.,integrated circuits) that are adapted to implement or perform one ormore tasks.

“First,” “Second,” etc. As used herein, these terms are used as labelsfor nouns that they precede, and do not imply any type of ordering(e.g., spatial, temporal, logical, etc.). For example, a buffer circuitmay be described herein as performing write operations for “first” and“second” values. The terms “first” and “second” do not necessarily implythat the first value must be written before the second value.

“Based On.” As used herein, this term is used to describe one or morefactors that affect a determination. This term does not forecloseadditional factors that may affect a determination. That is, adetermination may be solely based on those factors or based, at least inpart, on those factors. Consider the phrase “determine A based on B.”While in this case, B is a factor that affects the determination of A,such a phrase does not foreclose the determination of A from also beingbased on C. In other instances, A may be determined based solely on B.

DETAILED DESCRIPTION

Introduction

Some embodiments provide an actuator that tilts a mirror independentlyabout two orthogonal axes. In some embodiments, the mirror is used toraster scan a laser light beam in a depth map acquisition system. Assuch, in some embodiments the movement requirements for movements aboutthe two notional orthogonal tilt axes are different. Hence there is a‘fast’ axis and a ‘slow’ axis. In some embodiments, the slow axis scansaround 30 Hz (although this is not a limitation, and futureimplementations may require different frequencies). In some embodiments,the fast axis scans at around 400 Hz (although faster is beneficial).

In some embodiments, the mirror tilt actuator is usable for directing alight beam in a controlled manner into a two-dimensional space.

In some embodiments, the actuator technology is electro-magnetic,including one or more magnets and multiple energized coils disposedaround the magnet(s). The combination of magnetic fields and currentcarrying wires generates Lorentz forces between the coils and themagnet, and hence generates torques and angular movement.

In some embodiments, a moving magnet is rigidly joined to the tiltingmirror. Arranged around the magnet are plural coils that are fixed inposition relative to the support structure of the system. Someembodiments are built on the assumption that, during each frame, only aportion of the field of view that contains objects of interest needs tobe scanned.

In some embodiments, by ‘direct drive’, the actuator is able to move,hold and control the mirror position during a scan, rather than merelyset the mirror oscillating as resonance (albeit with an associatedmeasurement of its resulting position).

In some embodiments, the actuator is a ‘direct drive’ actuator thatemploys a single magnet surrounded by plural coils with dimensions ofthe magnet that are smaller than the coil arrangement and a coilarrangement that uses multiple electrical connections.

In some embodiments, the moving magnet allows a position sensingsolution with the position sensors to detect the changing magnetic fieldfrom the magnet, rather than some property of the coils. In someembodiments, Hall sensors are used to detect the changing magnetic fieldand hence the tilt of the magnet. In addition, some embodiments includea pivot without a resilient spring to keep the moving body on the pivot,and to provide a resistance to the tilting force, which acts to centerthe moving body.

In some embodiments, a slug of magnetic material fixed to the supportstructure is attracted by the magnet, and hence both provides a contactforce onto the pivot and generates a restoring torque as the magnet istilted.

Some embodiments include an actuator that tilts a body, such as anoptical mirror, about two orthogonal axes. In some embodiments, theactuator includes a magnet with four coils disposed around the sides ofthe magnet. In some embodiments, the magnet is poled such the the northand south poles represented by faces of the magnet are oriented suchthat neither face is adjacent to one of the four coils. In someembodiments, coils on opposite sides of the magnet are electrically inseries and work in concert to generate Lorentz forces that deliver a nettorque between the coil assembly and the magnet. In some embodiments,these Lorentz forces are a result of the currents through the coilsinteracting with the fringing field of the magnet. In some embodiments,the coils are fixed relative to a support structure, and the magnet istilting, with the mirror rigidly joined to the magnet.

In some embodiments, the magnet is mounted on a pivot and held againstthe pivot by magnetic attraction between the magnet and a magneticmaterial the other side of the pivot. In some embodiments, the mutualattraction also provides a restoring torque to resist the actuated tilt.In some embodiments, one pair of opposing coils is larger in size than asecond pair of orthogonal opposing coils.

In some embodiments, the magnet and mirror have circular symmetry toavoid the need to constrain the magnet against rotations on the pivotabout an axis orthogonal to the mirror surface.

In some embodiments, a depth map acquisition system, includes a housing,a light source for emitting light to illuminate objects in a scenesubject to depth mapping, fixedly mounted to the housing a mirror tiltactuator, fixedly mounted to the housing, for tilting a mirror fixedlymounted to the mirror tilt actuator, a mirror fixedly mounted to themirror tilt actuator, for reflecting light from the light source to theobjects, and a partially transparent photosensitive detector in thedirect path of the light from the mirror to the objects.

In some embodiments, the mirror tilt actuator includes a base member,fixedly mounted to the housing, a magnet mount post, fixedly mounted tothe base member, for mounting a mirror pivot, a mirror pivot including amagnetic component, moveably mounted to the magnet mount post, and oneor more magnetic coils, fixedly mounted to the base member, forproviding one or more magnetic forces to adjust an orientation of themirror pivot. In some embodiments, the mirror fixedly mounts to themirror pivot.

In some embodiments, the mirror tilt actuator includes a base member,fixedly mounted to the housing, a magnet mount post, fixedly mounted tothe base member, for mounting a mirror pivot; a mirror pivot including amagnetic component, moveably mounted to the magnet mount post, and oneor more magnetic coils, fixedly mounted to the base member, forproviding one or more magnetic forces to adjust an orientation of themirror pivot. In some embodiments, the mirror fixedly mounts to themirror pivot by means of a mounting post fixedly mounted between themirror and the mirror pivot.

In some embodiments, the mirror tilt actuator includes a base member,fixedly mounted to the housing, a magnet mount post, fixedly mounted tothe base member, for mounting a mirror pivot, a mirror pivot including amagnetic component, moveably mounted to the magnet mount post, a ferrousslug, fixedly mounted to the base member beneath the post magnet mountpost, for attracting and retaining the mirror pivot by means of amagnetic attraction force between the mirror pivot and the ferrous slug,and one or more magnetic coils, fixedly mounted to the base member, forproviding one or more magnetic forces to adjust an orientation of themirror pivot. the mirror fixedly mounts to the mirror pivot

In some embodiments, the mirror tilt actuator includes a base member,fixedly mounted to the housing, a magnet mount post, fixedly mounted tothe base member, for mounting a mirror pivot, a mirror pivot including amagnetic barrel component, and one or more magnetic coils, fixedlymounted to the base member, for providing one or more magnetic forces toadjust an orientation of the mirror pivot. In some embodiments, themagnetic barrel component is moveably mounted to the magnet mount post,wherein the mirror fixedly mounts to the mirror pivot. In someembodiments, the magnetic barrel component includes a hollow interiorspace for mounting to the post. In some embodiments, the magnetic barrelcomponent includes a permanent magnet.

In some embodiments, the mirror tilt actuator includes a base member,fixedly mounted to the housing, a magnet mount post, fixedly mounted tothe base member, for mounting a mirror pivot, a mirror pivot including amagnetic component, moveably mounted to the magnet mount post, and oneor more magnetic coils, fixedly mounted to the base member, forproviding one or more magnetic forces to adjust an orientation of themirror pivot. In some embodiments, the mirror fixedly mounts to themirror pivot by means of a mounting post fixedly mounted between themirror and the mirror pivot.

In some embodiments, the partially transparent photosensitive detectorin the direct path of the light from the mirror to the objects furtherincludes a partially transparent photosensitive detector mounted in thecover glass of a device in which the depth map acquisition system ismounted.

In some embodiments, the partially transparent photosensitive detectorin the direct path of the light from the mirror to the objects furtherincludes a photosensitive detector in the direct path of a beam of lightto a scene to determine the outgoing angle of such light for use ineither construction of a digital representation of the scene.

In some embodiments, the mirror tilt actuator includes a moving magnet,and four non-moving coils disposed around four sides of the magnet. Insome embodiments, when driven with electric signals, the four non-movingcoils generate Lorentz forces that tend to tilt the magnet and themirror about a pivot.

In some embodiments, the mirror tilt actuator includes: a base member,fixedly mounted to the housing, a magnet mount post, fixedly mounted tothe base member, for mounting a mirror pivot, one or more magneticcoils, fixedly mounted to the base member, for providing one or moremagnetic forces to adjust an orientation of a mirror pivot, and themirror pivot. In some embodiments, the mirror pivot includes a magneticbarrel component, and a fringing field of the moving magnet includescomponents of magnetic field in the appropriate directions to deliverthe Lorentz forces, when the coils are electrically driven.

Some embodiments include a method for generating a depth map. In someembodiments, the method includes a light source emitting light toilluminate objects in a scene subject to depth mapping. In someembodiments, the method includes reflecting the light at an outgoingangle using a mirror fixedly mounted to a mirror tilt actuator, forreflecting light from the light source to one or more objects in thescene. In some embodiments, the method includes measuring an outgoingangle of the light using a partially transparent photosensitive detectorin a direct path of the light. In some embodiments, the method includesa detector mounted within the housing, receiving reflected light fromthe objects.

In some embodiments, the method includes, based on the reflected light,constructing a depth map of the scene. In some embodiments, the methodincludes the mirror tilt actuator adjusting a position of the mirror toadjust the outgoing angle.

In some embodiments, the method includes the mirror tilt actuatoradjusting a position of the mirror to adjust the outgoing angle by oneor more magnetic coils providing one or more magnetic forces to adjustan orientation of a mirror pivot

In some embodiments, the one or more magnetic coils are fixedly mountedto a base member of the mirror tilt actuator. In some embodiments, themirror pivot includes a magnetic barrel component. In some embodiments,the magnetic barrel component is moveably mounted to the magnet mountpost, wherein the mirror fixedly mounts to the mirror pivot. In someembodiments, the magnetic barrel component includes a hollow interiorspace for mounting to the post. In some embodiments, the magnetic barrelcomponent includes a permanent magnet.

In some embodiments, the method includes the mirror tilt actuatoradjusting a position of the mirror to adjust the outgoing angle based oncalculations of a closed loop feedback system in response to themeasuring the outgoing angle of the light using the partiallytransparent photosensitive detector.

In some embodiments, the method includes the mirror tilt actuatoradjusting a position of the mirror to adjust the outgoing angle thelight by driving electricity though one or more coils disposed about thesides of the mirror pivot to interact with a fringing field of themirror pivot, wherein the fringing field includes components of magneticfield in the appropriate directions to deliver the Lorentz forces, whenthe coils are electrically driven.

In some embodiments, the method includes the mirror tilt actuatoradjusting a position of the mirror to adjust the outgoing angle by oneor more magnetic coils providing one or more magnetic forces to adjustan orientation of a mirror pivot. In some embodiments, the one or moremagnetic coils are fixedly mounted to a base member of the mirror tiltactuator. In some embodiments, the mirror pivot includes a magneticbarrel component. In some embodiments, the magnetic barrel component ismoveably mounted to the magnet mount post, wherein the mirror fixedlymounts to the mirror pivot.

Some embodiments include a mirror tilt actuator. In some embodiments,the mirror tilt actuator includes a base member, fixedly mounted to ahousing, a magnet mount post, fixedly mounted to the base member, formounting a mirror pivot, a mirror pivot including a magnetic component,moveably mounted to the magnet mount post, wherein the mirror fixedlymounts to the mirror pivot, and one or more magnetic coils, fixedlymounted to the base member, for providing one or more magnetic forces toadjust an orientation of the mirror pivot.

In some embodiments, the mirror tilt actuator further includes a ferrousslug, fixedly mounted to the base member beneath the post magnet mountpost, for attracting and retaining the mirror pivot by means of amagnetic attraction force between the mirror pivot and the ferrous slug.

In some embodiments, the mirror pivot further includes a magnetic barrelcomponent. In some embodiments, the magnetic barrel component ismoveably mounted to the magnet mount post, wherein the mirror fixedlymounts to the mirror pivot. In some embodiments, the magnetic barrelcomponent includes a hollow interior space for mounting to the post. Insome embodiments, the magnetic barrel component includes a permanentmagnet. In some embodiments, the actuator further includes one or moremagnetic coils, fixedly mounted to the base member, for providing one ormore magnetic forces to adjust an orientation of the mirror pivot.

In some embodiments, the mirror fixedly mounts to the mirror pivot bymeans of a mounting post fixedly mounted between the mirror and themirror pivot. In some embodiments, the actuator further includes fournon-moving coils disposed around four sides of the magnet. In someembodiments, when driven with electric signals, the four non-movingcoils generate Lorentz forces that tend to tilt the magnet and themirror about a pivot.

In some embodiments, a narrow beam of light (e.g., from a laser) ismodulated in angle by a reflective surface, such as theactuator-controlled mirrors discussed herein. Such modulation allowsdigital recording or recreation of a scene in one or more degrees offreedom. Applications of such embodiments include digital projectors,LIDAR and bar code scanners, cameras and depth-map acquisition systems.

In some applications, knowing the angle of the steered beam of lightwith time is useful for accurate recording or recreating a scene. Manymeasurement techniques can be used to achieve this, broadly they can beclassified into direct optical measurements and indirect non-opticalmeasurements. In some embodiments, indirect non-optical measurementsinvolve methods for measuring some property of the actuator driving thetilt or the position of moving parts. In some embodiments, such methodsinclude capacitive position sensing or shaft rotary encoders. In someembodiments, direct optical measurements include methods for measuringthe position on a 2D plane of the reflected beam of light itself using aphotosensitive detector sensor. In some embodiments, a photosensitivediode allows the majority of incident light (at IR wavelengths) to passthrough, simplifying the system by placing the photodiode directly inthe outgoing beam of light (and thus removing the need for either a beamsplitter (or indirect angle measurement method). In some embodiments,this allows the beam scanning system to be made far more compact andpotentially achieve greater angular range. In some embodiments, theoutgoing beam of light typically has great enough intensity that a goodsignal-to-noise ratio on the position measurement can still be achieved.In some embodiments, photosensitive detector can be mounted to the coverglass of the system, adding very little volume to the device

Some embodiments place a partially transparent photosensitive detectorin the direct path of a beam of light to a scene to determine theoutgoing angle of such light for use in either reconstruction oracquisition of a digital representation of the scene.

Some embodiments place a partially transparent photosensitive detectorin the direct path of a beam of light to a scene to determine theoutgoing angle of such light for use in either reconstruction oracquisition of a digital representation of the scene with a closed loopfeedback system to accurately position the tilting surface.

Some embodiments place a partially transparent photosensitive detectorin the direct path of a beam of light to a scene to determine theoutgoing angle of such light for use in either reconstruction oracquisition of a digital representation of the scene with thephotosensitive detector being a subcomponent of the cover glass of thedevice.

Some embodiments place a partially transparent photosensitive detectorin the direct path of a beam of light to a scene to determine theoutgoing angle of such light for use in either reconstruction oracquisition of a digital representation of the scene with multiplephotosensitive detectors and a very large angle scanning system toachieve full 360-degree field of view.

Multifunction Device

Reference will now be made in detail to embodiments, examples of whichare illustrated in the accompanying drawings. In the following detaileddescription, numerous specific details are set forth in order to providea thorough understanding of the present disclosure. However, it will beapparent to one of ordinary skill in the art that some embodiments maybe practiced without these specific details. In other instances,well-known methods, procedures, components, circuits, and networks havenot been described in detail so as not to unnecessarily obscure aspectsof the embodiments.

It will also be understood that, although the terms first, second, etc.may be used herein to describe various elements, these elements shouldnot be limited by these terms. These terms are only used to distinguishone element from another. For example, a first contact could be termed asecond contact, and, similarly, a second contact could be termed a firstcontact, without departing from the intended scope. The first contactand the second contact are both contacts, but they are not the samecontact.

The terminology used in the description herein is for the purpose ofdescribing particular embodiments only and is not intended to belimiting. As used in the description and the appended claims, thesingular forms “a”, “an” and “the” are intended to include the pluralforms as well, unless the context clearly indicates otherwise. It willalso be understood that the term “and/or” as used herein refers to andencompasses any and all possible combinations of one or more of theassociated listed items. It will be further understood that the terms“includes,” “including,” “comprises,” and/or “comprising,” when used inthis specification, specify the presence of stated features, integers,steps, operations, elements, and/or components, but do not preclude thepresence or addition of one or more other features, integers, steps,operations, elements, components, and/or groups thereof.

As used herein, the term “if” may be construed to mean “when” or “upon”or “in response to determining” or “in response to detecting,” dependingon the context. Similarly, the phrase “if it is determined” or “if [astated condition or event] is detected” may be construed to mean “upondetermining” or “in response to determining” or “upon detecting [thestated condition or event]” or “in response to detecting [the statedcondition or event],” depending on the context.

Embodiments of electronic devices, user interfaces for such devices, andassociated processes for using such devices are described. In someembodiments, the device is a portable communications device, such as amobile telephone, that also contains other functions, such as PDA and/ormusic player functions. Other portable electronic devices, such aslaptops or tablet computers with touch-sensitive surfaces (e.g., touchscreen displays and/or touch pads), may also be used. It should also beunderstood that, in some embodiments, the device is not a portablecommunications device, but is a desktop computer with a touch-sensitivesurface (e.g., a touch screen display and/or a touch pad). In someembodiments, the device is a gaming computer with orientation sensors(e.g., orientation sensors in a gaming controller).

In the discussion that follows, an electronic device that includes adisplay and a touch-sensitive surface is described. It should beunderstood, however, that the electronic device may include one or moreother physical user-interface devices, such as a physical keyboard, amouse and/or a joystick.

The device typically supports a variety of applications, such as one ormore of the following: a drawing application, a presentationapplication, a word processing application, a website creationapplication, a disk authoring application, a spreadsheet application, agaming application, a telephone application, a video conferencingapplication, an e-mail application, an instant messaging application, aworkout support application, a photo management application, a digitalcamera application, a digital video camera application, a web browsingapplication, a digital music player application, and/or a digital videoplayer application.

The various applications that may be executed on the device may use atleast one common physical user-interface device, such as thetouch-sensitive surface. One or more functions of the touch-sensitivesurface as well as corresponding information displayed on the device maybe adjusted and/or varied from one application to the next and/or withina respective application. In this way, a common physical architecture(such as the touch-sensitive surface) of the device may support thevariety of applications with user interfaces that are intuitive andtransparent to the user.

Attention is now directed toward embodiments of portable devices. FIG. 1is a block diagram illustrating portable multifunction device 100 withtouch-sensitive displays 112 in accordance with some embodiments.Touch-sensitive display 112 is sometimes called a “touch screen” forconvenience, and may also be known as or called a touch-sensitivedisplay system. Device 100 may include memory 102 (which may include oneor more computer readable storage mediums), memory controller 122, oneor more processing units (CPU's) 120, peripherals interface 118, RFcircuitry 108, audio circuitry 110, speaker 111, microphone 113,input/output (I/O) subsystem 106, other input or control devices 116,and external port 124. Device 100 may include one or more opticalsensors 164. These components may communicate over one or morecommunication buses or signal lines 103.

It should be appreciated that device 100 is only one example of aportable multifunction device, and that device 100 may have more orfewer components than shown, may combine two or more components, or mayhave a different configuration or arrangement of the components. Thevarious components shown in FIG. 1 may be implemented in hardware,software, or a combination of hardware and software, including one ormore signal processing and/or application specific integrated circuits.

Memory 102 may include high-speed random access memory and may alsoinclude non-volatile memory, such as one or more magnetic disk storagedevices, flash memory devices, or other non-volatile solid-state memorydevices. Access to memory 102 by other components of device 100, such asCPU 120 and the peripherals interface 118, may be controlled by memorycontroller 122.

Peripherals interface 118 can be used to couple input and outputperipherals of the device to CPU 120 and memory 102. The one or moreprocessors 120 run or execute various software programs and/or sets ofinstructions stored in memory 102 to perform various functions fordevice 100 and to process data.

In some embodiments, peripherals interface 118, CPU 120, and memorycontroller 122 may be implemented on a single chip, such as chip 104. Insome other embodiments, they may be implemented on separate chips.

RF (radio frequency) circuitry 108 receives and sends RF signals, alsocalled electromagnetic signals. RF circuitry 108 converts electricalsignals to/from electromagnetic signals and communicates withcommunications networks and other communications devices via theelectromagnetic signals. RF circuitry 108 may include well-knowncircuitry for performing these functions, including but not limited toan antenna system, an RF transceiver, one or more amplifiers, a tuner,one or more oscillators, a digital signal processor, a CODEC chipset, asubscriber identity module (SIM) card, memory, and so forth. RFcircuitry 108 may communicate with networks, such as the Internet, alsoreferred to as the World Wide Web (WWW), an intranet and/or a wirelessnetwork, such as a cellular telephone network, a wireless local areanetwork (LAN) and/or a metropolitan area network (MAN), and otherdevices by wireless communication. The wireless communication may useany of a variety of communications standards, protocols andtechnologies, including but not limited to Global System for MobileCommunications (GSM), Enhanced Data GSM Environment (EDGE), high-speeddownlink packet access (HSDPA), high-speed uplink packet access (HSUPA),wideband code division multiple access (W-CDMA), code division multipleaccess (CDMA), time division multiple access (TDMA), Bluetooth, WirelessFidelity (Wi-Fi) (e.g., IEEE 802.11a, IEEE 802.11b, IEEE 802.11g and/orIEEE 802.11n), voice over Internet Protocol (VoIP), Wi-MAX, a protocolfor e-mail (e.g., Internet message access protocol (IMAP) and/or postoffice protocol (POP)), instant messaging (e.g., extensible messagingand presence protocol (XMPP), Session Initiation Protocol for InstantMessaging and Presence Leveraging Extensions (SIMPLE), Instant Messagingand Presence Service (IMPS)), and/or Short Message Service (SMS), or anyother suitable communication protocol, including communication protocolsnot yet developed as of the filing date of this document.

Audio circuitry 110, speaker 111, and microphone 113 provide an audiointerface between a user and device 100. Audio circuitry 110 receivesaudio data from peripherals interface 118, converts the audio data to anelectrical signal, and transmits the electrical signal to speaker 111.Speaker 111 converts the electrical signal to human-audible sound waves.Audio circuitry 110 also receives electrical signals converted bymicrophone 113 from sound waves. Audio circuitry 110 converts theelectrical signal to audio data and transmits the audio data toperipherals interface 118 for processing. Audio data may be retrievedfrom and/or transmitted to memory 102 and/or RF circuitry 108 byperipherals interface 118. In some embodiments, audio circuitry 110 alsoincludes a headset jack (e.g., 212, FIG. 2). The headset jack providesan interface between audio circuitry 110 and removable audioinput/output peripherals, such as output-only headphones or a headsetwith both output (e.g., a headphone for one or both ears) and input(e.g., a microphone).

I/O subsystem 106 couples input/output peripherals on device 100, suchas touch screen 112 and other input control devices 116, to peripheralsinterface 118. I/O subsystem 106 may include display controller 156 andone or more input controllers 160 for other input or control devices.The one or more input controllers 160 receive/send electrical signalsfrom/to other input or control devices 116. The other input controldevices 116 may include physical buttons (e.g., push buttons, rockerbuttons, etc.), dials, slider switches, joysticks, click wheels, and soforth. In some alternate embodiments, input controller(s) 160 may becoupled to any (or none) of the following: a keyboard, infrared port,USB port, and a pointer device such as a mouse. The one or more buttons(e.g., 208, FIG. 2) may include an up/down button for volume control ofspeaker 111 and/or microphone 113. The one or more buttons may include apush button (e.g., 206, FIG. 2).

Touch-sensitive display 112 provides an input interface and an outputinterface between the device and a user. Display controller 156 receivesand/or sends electrical signals from/to touch screen 112. Touch screen112 displays visual output to the user. The visual output may includegraphics, text, icons, video, and any combination thereof (collectivelytermed “graphics”). In some embodiments, some or all of the visualoutput may correspond to user-interface objects.

Touch screen 112 has a touch-sensitive surface, sensor or set of sensorsthat accepts input from the user based on haptic and/or tactile contact.Touch screen 112 and display controller 156 (along with any associatedmodules and/or sets of instructions in memory 102) detect contact (andany movement or breaking of the contact) on touch screen 112 andconverts the detected contact into interaction with user-interfaceobjects (e.g., one or more soft keys, icons, web pages or images) thatare displayed on touch screen 112. In an exemplary embodiment, a pointof contact between touch screen 112 and the user corresponds to a fingerof the user.

Touch screen 112 may use LCD (liquid crystal display) technology, LPD(light emitting polymer display) technology, or LED (light emittingdiode) technology, although other display technologies may be used inother embodiments. Touch screen 112 and display controller 156 maydetect contact and any movement or breaking thereof using any of avariety of touch sensing technologies now known or later developed,including but not limited to capacitive, resistive, infrared, andsurface acoustic wave technologies, as well as other proximity sensorarrays or other elements for determining one or more points of contactwith touch screen 112. In an exemplary embodiment, projected mutualcapacitance sensing technology is used. Depth mapping systems asdescribed herein may be free standing or components of other systemswithin proximity sensors 166 or optical sensors/cameras 164.

The user may make contact with touch screen 112 using any suitableobject or appendage, such as a stylus, a finger, and so forth. In someembodiments, the user interface is designed to work primarily withfinger-based contacts and gestures, which can be less precise thanstylus-based input due to the larger area of contact of a finger on thetouch screen. In some embodiments, the device translates the roughfinger-based input into a precise pointer/cursor position or command forperforming the actions desired by the user.

In some embodiments, in addition to the touch screen, device 100 mayinclude a touchpad (not shown) for activating or deactivating particularfunctions. In some embodiments, the touchpad is a touch-sensitive areaof the device that, unlike the touch screen, does not display visualoutput. The touchpad may be a touch-sensitive surface that is separatefrom touch screen 112 or an extension of the touch-sensitive surfaceformed by the touch screen.

Device 100 also includes power system 162 for powering the variouscomponents. Power system 162 may include a power management system, oneor more power sources (e.g., battery, alternating current (AC)), arecharging system, a power failure detection circuit, a power converteror inverter, a power status indicator (e.g., a light-emitting diode(LED)) and any other components associated with the generation,management and distribution of power in portable devices.

Device 100 may also include one or more optical sensors 164. FIG. 1shows an optical sensor coupled to optical sensor controller 159 in I/Osubsystem 106. Optical sensor 164 may include charge-coupled device(CCD) or complementary metal-oxide semiconductor (CMOS)phototransistors. Optical sensor 164 receives light from theenvironment, projected through one or more lens, and converts the lightto data representing an image. In conjunction with imaging module 143(also called a camera module), optical sensor 164 may capture stillimages or video. In some embodiments, an optical sensor is located onthe back of device 100, opposite touch screen display 112 on the frontof the device, so that the touch screen display may be used as aviewfinder for still and/or video image acquisition. In someembodiments, another optical sensor is located on the front of thedevice so that the user's image may be obtained for videoconferencingwhile the user views the other video conference participants on thetouch screen display.

Device 100 may also include one or more proximity sensors 166. FIG. 1shows proximity sensor 166 coupled to peripherals interface 118.Alternately, proximity sensor 166 may be coupled to input controller 160in I/O subsystem 106. In some embodiments, the proximity sensor turnsoff and disables touch screen 112 when the multifunction device isplaced near the user's ear (e.g., when the user is making a phone call).

Device 100 includes one or more orientation sensors 168. In someembodiments, the one or more orientation sensors include one or moreaccelerometers (e.g., one or more linear accelerometers and/or one ormore rotational accelerometers). In some embodiments, the one or moreorientation sensors include one or more gyroscopes. In some embodiments,the one or more orientation sensors include one or more magnetometers.In some embodiments, the one or more orientation sensors include one ormore of global positioning system (GPS), Global Navigation SatelliteSystem (GLONASS), and/or other global navigation system receivers. TheGPS, GLONASS, and/or other global navigation system receivers may beused for obtaining information concerning the location and orientation(e.g., portrait or landscape) of device 100. In some embodiments, theone or more orientation sensors include any combination oforientation/rotation sensors. FIG. 1 shows the one or more orientationsensors 168 coupled to peripherals interface 118. Alternately, the oneor more orientation sensors 168 may be coupled to an input controller160 in I/O subsystem 106. In some embodiments, information is displayedon the touch screen display in a portrait view or a landscape view basedon an analysis of data received from the one or more orientationsensors.

In some embodiments, the software components stored in memory 102include operating system 126, communication module (or set ofinstructions) 128, contact/motion module (or set of instructions) 130,graphics module (or set of instructions) 132, text input module (or setof instructions) 134, Global Positioning System (GPS) module (or set ofinstructions) 135, arbiter module 158 and applications (or sets ofinstructions) 136. Device/global internal state 157 includes one or moreof: active application state, indicating which applications, if any, arecurrently active; display state, indicating what applications, views orother information occupy various regions of touch screen display 112;sensor state, including information obtained from the device's varioussensors and input control devices 116; state information that indicateswhich processes control output of shared audio or visual resource of avehicle; ownership transition conditions of the shared audio or visualresource; and location information concerning the device's locationand/or attitude.

Operating system 126 (e.g., Darwin, LINUX, UNIX, OS X, WINDOWS, or anembedded operating system such as VxWorks or RTXC) includes varioussoftware components and/or drivers for controlling and managing generalsystem tasks (e.g., memory management, storage device control, powermanagement, etc.) and facilitates communication between various hardwareand software components.

Communication module 128 facilitates communication with other devicesover one or more external ports 124 and also includes various softwarecomponents for handling data received by RF circuitry 108 and/orexternal port 124. External port 124 (e.g., Universal Serial Bus (USB),FIREWIRE, etc.) is adapted for coupling directly to other devices orindirectly over a network (e.g., the Internet, wireless LAN, etc.).

Contact/motion module 130 may detect contact with touch screen 112 (inconjunction with display controller 156) and other touch sensitivedevices (e.g., a touchpad or physical click wheel). Contact/motionmodule 130 includes various software components for performing variousoperations related to detection of contact, such as determining ifcontact has occurred (e.g., detecting a finger-down event), determiningif there is movement of the contact and tracking the movement across thetouch-sensitive surface (e.g., detecting one or more finger-draggingevents), and determining if the contact has ceased (e.g., detecting afinger-up event or a break in contact). Contact/motion module 130receives contact data from the touch-sensitive surface. Determiningmovement of the point of contact, which is represented by a series ofcontact data, may include determining speed (magnitude), velocity(magnitude and direction), and/or an acceleration (a change in magnitudeand/or direction) of the point of contact. These operations may beapplied to single contacts (e.g., one finger contacts) or to multiplesimultaneous contacts (e.g., “multitouch”/multiple finger contacts). Insome embodiments, contact/motion module 130 and display controller 156detect contact on a touchpad.

Contact/motion module 130 may detect a gesture input by a user.Different gestures on the touch-sensitive surface have different contactpatterns. Thus, a gesture may be detected by detecting a particularcontact pattern. For example, detecting a finger tap gesture includesdetecting a finger-down event followed by detecting a finger-up (liftoff) event at the same position (or substantially the same position) asthe finger-down event (e.g., at the position of an icon). As anotherexample, detecting a finger swipe gesture on the touch-sensitive surfaceincludes detecting a finger-down event followed by detecting one or morefinger-dragging events, and subsequently followed by detecting afinger-up (lift off) event.

Graphics module 132 includes various known software components forrendering and displaying graphics on touch screen 112 or other display,including components for changing the intensity of graphics that aredisplayed. As used herein, the term “graphics” includes any object thatcan be displayed to a user, including without limitation text, webpages, icons (such as user-interface objects including soft keys),digital images, videos, animations and the like.

In some embodiments, graphics module 132 stores data representinggraphics to be used. Each graphic may be assigned a corresponding code.Graphics module 132 receives, from applications etc., one or more codesspecifying graphics to be displayed along with, if necessary, coordinatedata and other graphic property data, and then generates screen imagedata to output to display controller 156.

Text input module 134, which may be a component of graphics module 132,provides soft keyboards for entering text in various applications (e.g.,contacts 137, e-mail 140, IM 141, browser 147, and any other applicationthat needs text input).

GPS module 135 determines the location of the device and provides thisinformation for use in various applications (e.g., to telephone 138 foruse in location-based dialing, to camera 143 as picture/video metadata,and to applications that provide location-based services such as weatherwidgets, local yellow page widgets, and map/navigation widgets).

Applications 136 may include the following modules (or sets ofinstructions), or a subset or superset thereof:

-   -   contacts module 137 (sometimes called an address book or contact        list);    -   telephone module 138;    -   video conferencing module 139;    -   e-mail client module 140;    -   instant messaging (IM) module 141;    -   workout support module 142;    -   camera module 143 for still and/or video images and/or depth        mapping;    -   image management module 144;    -   browser module 147;    -   calendar module 148;    -   widget modules 149, which may include one or more of: weather        widget 149-1, stocks widget 149-2, calculator widget 149-3,        alarm clock widget 149-4, dictionary widget 149-5, and other        widgets obtained by the user, as well as user-created widgets        149-6;    -   widget creator module 150 for making user-created widgets 149-6;    -   search module 151;    -   video and music player module 152, which may be made up of a        video module and a music module;    -   notes module 153;    -   map module 154; and/or    -   online video module 155.

Examples of other applications 136 that may be stored in memory 102include other word processing applications, other image editingapplications, drawing applications, presentation applications,JAVA-enabled applications, encryption, digital rights management, voicerecognition, and voice replication.

In conjunction with touch screen 112, display controller 156, contactmodule 130, graphics module 132, and text input module 134, contactsmodule 137 may be used to manage an address book or contact list (e.g.,stored in application internal state 192 of contacts module 137 inmemory 102), including: adding name(s) to the address book; deletingname(s) from the address book; associating telephone number(s), e-mailaddress(es), physical address(es) or other information with a name;associating an image with a name; categorizing and sorting names;providing telephone numbers or e-mail addresses to initiate and/orfacilitate communications by telephone 138, video conference 139, e-mail140, or IM 141; and so forth.

In conjunction with RF circuitry 108, audio circuitry 110, speaker 111,microphone 113, touch screen 112, display controller 156, contact module130, graphics module 132, and text input module 134, telephone module138 may be used to enter a sequence of characters corresponding to atelephone number, access one or more telephone numbers in address book137, modify a telephone number that has been entered, dial a respectivetelephone number, conduct a conversation and disconnect or hang up whenthe conversation is completed. As noted above, the wirelesscommunication may use any of a variety of communications standards,protocols and technologies.

In conjunction with RF circuitry 108, audio circuitry 110, speaker 111,microphone 113, touch screen 112, display controller 156, andcommunication module 128, arbiter module 158 negotiates control of ashared audio or visual resource of an automobile. A request for controlof a shared audio or visual resource of the vehicle is received atarbiter module 158. Arbiter module 158 maintains existing stateinformation for ownership of the shared audio or visual resource andownership transition conditions of the shared audio or visual resource.The request for control of the shared audio or visual resource of thevehicle is received from one of a plurality of processes including aprocess executing on an embedded system attached to the vehicle and aprocess executing on a mobile computing device (portable multifunctiondevice 100) temporarily communicating with the vehicle. New stateinformation regarding ownership of the shared audio or visual resourceis determined by arbiter module 158 based at least in part on therequest for control and the ownership transition conditions. The newstate information indicates which of the processes controls output ofthe shared audio or visual resource of the vehicle. New ownershiptransition conditions of the shared audio or visual resource aredetermined by arbiter module 158 and communicated to a controllerinterface of the shared audio or visual resource.

In conjunction with RF circuitry 108, audio circuitry 110, speaker 111,microphone 113, touch screen 112, display controller 156, optical sensor164, arbiter module 158, contact module 130, graphics module 132, textinput module 134, contact list 137, and telephone module 138,videoconferencing module 139 includes executable instructions toinitiate, conduct, and terminate a video conference between a user andone or more other participants in accordance with user instructions.

In conjunction with RF circuitry 108, touch screen 112, displaycontroller 156, contact module 130, graphics module 132, and text inputmodule 134, e-mail client module 140 includes executable instructions tocreate, send, receive, and manage e-mail in response to userinstructions. In conjunction with image management module 144, e-mailclient module 140 makes it very easy to create and send e-mails withstill or video images taken with camera module 143.

In conjunction with RF circuitry 108, touch screen 112, displaycontroller 156, contact module 130, graphics module 132, and text inputmodule 134, the instant messaging module 141 includes executableinstructions to enter a sequence of characters corresponding to aninstant message, to modify previously entered characters, to transmit arespective instant message (for example, using a Short Message Service(SMS) or Multimedia Message Service (MMS) protocol for telephony-basedinstant messages or using XMPP, SIMPLE, or IMPS for Internet-basedinstant messages), to receive instant messages and to view receivedinstant messages. In some embodiments, transmitted and/or receivedinstant messages may include graphics, photos, audio files, video filesand/or other attachments as are supported in a MMS and/or an EnhancedMessaging Service (EMS). As used herein, “instant messaging” refers toboth telephony-based messages (e.g., messages sent using SMS or MMS) andInternet-based messages (e.g., messages sent using XMPP, SIMPLE, orIMPS).

In conjunction with RF circuitry 108, touch screen 112, displaycontroller 156, contact module 130, graphics module 132, text inputmodule 134, GPS module 135, map module 154, and music player module 146,workout support module 142 includes executable instructions to createworkouts (e.g., with time, distance, and/or calorie burning goals);communicate with workout sensors (sports devices); receive workoutsensor data; calibrate sensors used to monitor a workout; select andplay music for a workout; and display, store and transmit workout data.

In conjunction with touch screen 112, display controller 156, opticalsensor(s) 164, optical sensor controller 159, contact module 130,graphics module 132, and image management module 144, camera module 143includes executable instructions to capture still images or video(including a video stream) and store them into memory 102, modifycharacteristics of a still image or video, or delete a still image orvideo from memory 102.

In conjunction with touch screen 112, display controller 156, contactmodule 130, graphics module 132, text input module 134, and cameramodule 143, image management module 144 includes executable instructionsto arrange, modify (e.g., edit), or otherwise manipulate, label, delete,present (e.g., in a digital slide show or album), and store still and/orvideo images.

In conjunction with RF circuitry 108, touch screen 112, display systemcontroller 156, contact module 130, graphics module 132, and text inputmodule 134, browser module 147 includes executable instructions tobrowse the Internet in accordance with user instructions, includingsearching, linking to, receiving, and displaying web pages or portionsthereof, as well as attachments and other files linked to web pages.

In conjunction with RF circuitry 108, touch screen 112, display systemcontroller 156, contact module 130, graphics module 132, text inputmodule 134, e-mail client module 140, and browser module 147, calendarmodule 148 includes executable instructions to create, display, modify,and store calendars and data associated with calendars (e.g., calendarentries, to do lists, etc.) in accordance with user instructions.

In conjunction with RF circuitry 108, touch screen 112, display systemcontroller 156, contact module 130, graphics module 132, text inputmodule 134, and browser module 147, widget modules 149 aremini-applications that may be downloaded and used by a user (e.g.,weather widget 149-1, stocks widget 149-2, calculator widget 1493, alarmclock widget 149-4, and dictionary widget 149-5) or created by the user(e.g., user-created widget 149-6). In some embodiments, a widgetincludes an HTML (Hypertext Markup Language) file, a CSS (CascadingStyle Sheets) file, and a JavaScript file. In some embodiments, a widgetincludes an XML (Extensible Markup Language) file and a JavaScript file(e.g., Yahoo! Widgets).

In conjunction with RF circuitry 108, touch screen 112, display systemcontroller 156, contact module 130, graphics module 132, text inputmodule 134, and browser module 147, the widget creator module 150 may beused by a user to create widgets (e.g., turning a user-specified portionof a web page into a widget).

In conjunction with touch screen 112, display system controller 156,contact module 130, graphics module 132, and text input module 134,search module 151 includes executable instructions to search for text,music, sound, image, video, and/or other files in memory 102 that matchone or more search criteria (e.g., one or more user-specified searchterms) in accordance with user instructions.

In conjunction with touch screen 112, display system controller 156,contact module 130, graphics module 132, audio circuitry 110, speaker111, RF circuitry 108, and browser module 147, video and music playermodule 152 includes executable instructions that allow the user todownload and play back recorded music and other sound files stored inone or more file formats, such as MP3 or AAC files, and executableinstructions to display, present or otherwise play back videos (e.g., ontouch screen 112 or on an external, connected display via external port124). In some embodiments, device 100 may include the functionality ofan MP3 player.

In conjunction with touch screen 112, display controller 156, contactmodule 130, graphics module 132, and text input module 134, notes module153 includes executable instructions to create and manage notes, to dolists, and the like in accordance with user instructions.

In conjunction with RF circuitry 108, touch screen 112, display systemcontroller 156, contact module 130, graphics module 132, text inputmodule 134, GPS module 135, and browser module 147, map module 154 maybe used to receive, display, modify, and store maps and data associatedwith maps (e.g., driving directions; data on stores and other points ofinterest at or near a particular location; and other location-baseddata) in accordance with user instructions.

In conjunction with touch screen 112, display system controller 156,contact module 130, graphics module 132, audio circuitry 110, speaker111, RF circuitry 108, text input module 134, e-mail client module 140,and browser module 147, online video module 155 includes instructionsthat allow the user to access, browse, receive (e.g., by streamingand/or download), play back (e.g., on the touch screen or on anexternal, connected display via external port 124), send an e-mail witha link to a particular online video, and otherwise manage online videosin one or more file formats, such as H.264. In some embodiments, instantmessaging module 141, rather than e-mail client module 140, is used tosend a link to a particular online video.

Each of the above identified modules and applications correspond to aset of executable instructions for performing one or more functionsdescribed above and the methods described in this application (e.g., thecomputer-implemented methods and other information processing methodsdescribed herein). These modules (i.e., sets of instructions) need notbe implemented as separate software programs, procedures or modules, andthus various subsets of these modules may be combined or otherwisere-arranged in various embodiments. In some embodiments, memory 102 maystore a subset of the modules and data structures identified above.Furthermore, memory 102 may store additional modules and data structuresnot described above.

In some embodiments, device 100 is a device where operation of apredefined set of functions on the device is performed exclusivelythrough a touch screen and/or a touchpad. By using a touch screen and/ora touchpad as the primary input control device for operation of device100, the number of physical input control devices (such as push buttons,dials, and the like) on device 100 may be reduced.

The predefined set of functions that may be performed exclusivelythrough a touch screen and/or a touchpad include navigation between userinterfaces. In some embodiments, the touchpad, when touched by the user,navigates device 100 to a main, home, or root menu from any userinterface that may be displayed on device 100. In such embodiments, thetouchpad may be referred to as a “menu button.” In some otherembodiments, the menu button may be a physical push button or otherphysical input control device instead of a touchpad.

While a portable or mobile computing device is shown as one embodimentof a multifunction device, one of skill in the art will readily realizein light of having read the current disclosure that a desktop computeror other computing device may also perform many of the functionsdescribed herein without departing from the scope and intent of thepresent disclosure. Likewise, while touch screen devices are shown asone embodiment of a multifunction device, one of skill in the art willreadily realize in light of having read the current disclosure that adesktop computer or other computing device without a touch screen mayalso perform many of the functions described herein without departingfrom the scope and intent of the present disclosure.

FIG. 2 illustrates a portable multifunction device 100 in accordancewith some embodiments. The touch screen may display one or more graphicswithin user interface (UI) 200. In this embodiment, as well as othersdescribed below, a user may select one or more of the graphics by makinga gesture on the graphics, for example, with one or more fingers 202(not drawn to scale in the figure) or one or more styluses 203 (notdrawn to scale in the figure).

Device 100 may also include one or more physical buttons, such as “home”or menu button 204. As described previously, menu button 204 may be usedto navigate to any application 136 in a set of applications that may beexecuted on device 100. Alternatively, in some embodiments, the menubutton is implemented as a soft key in a GUI displayed on touch screen112.

In one embodiment, device 100 includes touch screen 112, menu button204, push button 206 for powering the device on/off and locking thedevice, volume adjustment button(s) 208, Subscriber Identity Module(SIM) card slot 210, head set jack 212, and docking/charging externalport 124. Push button 206 may be used to turn the power on/off on thedevice by depressing the button and holding the button in the depressedstate for a predefined time interval; to lock the device by depressingthe button and releasing the button before the predefined time intervalhas elapsed; and/or to unlock the device or initiate an unlock process.

In an alternative embodiment, device 100 also may accept verbal inputfor activation or deactivation of some functions through microphone 113.

Operational Principle of Depth Map Acquisition System

FIG. 3 depicts operation of a depth map acquisition system for use inportable multifunction device in accordance with some embodiments. Someembodiments function by reflecting light from a light source into asubject scene, such as display surface or subject to be scanned 300 andreceiving the light at a detector 302 for measurement of the light andconstruction of a depth map. A housing, which is omitted for simplicityin FIG. 3, contains a light source 304, a scanning mirror 306 coupled toan actuator (not shown), and a semi-transparent photosensitive detector.

Some embodiments include a light source 304 for emitting light toilluminate objects in a scene subject to depth mapping 300, and thelight source is fixedly mounted to the housing (not shown). Someembodiments include a mirror tilt actuator (not shown), fixedly mountedto the housing (not shown), for tilting mirror 306, and mirror 306 isfixedly mounted to the mirror tilt actuator (not shown). In someembodiments, mirror 306 is fixedly mounted to the mirror tilt actuator(not shown), for reflecting light from the light source 304 to theobjects 300. Some embodiments include a partially transparentphotosensitive detector 302 in the direct path of the light from themirror to the objects. In some embodiments, partially transparentphotosensitive detector 302 is used to detect the angle of outgoinglight from light source 304. In other embodiments, partially transparentphotosensitive detector 302 also detects light returned from the objects300. In some embodiments, partially transparent photosensitive detector302 is used to detect outgoing light from light source 304, andsecondary detectors (not shown) are used to detect returning lightreflected from the objects.

FIG. 4 depicts components of a depth map acquisition system, which maybe part of a camera system for use with in portable multifunction devicein accordance with some embodiments. A lens and mirror assembly 420, anda light source and sensor assembly 440 are shown as components of andepth map acquisition device package 400, which connects to othercomponents of a multifunction device by means of a FPC externalconnector 410.

A depth map acquisition device package 400, which is one embodiment of adepth map acquisition system, includes a housing 430 of an actuator andmirror assembly 420. A light source for emitting light to illuminateobjects in a scene subject to depth mapping, such as light source andsensor assembly 440 is fixedly mounted to the housing. A mirror tiltactuator, fixedly mounted to the housing 430 is contained withinactuator and mirror assembly 420, for tilting a mirror fixedly mountedto the mirror tilt actuator within actuator and mirror assembly 420. Amirror fixedly mounted to the mirror tilt actuator within actuator andmirror assembly 420, is used for for reflecting light from the lightsource to the objects. In some embodiments, cover glass 450 includes apartially transparent photosensitive detector in the direct path of thelight from the mirror to the objects.

FIG. 5 illustrates a mirror tilt actuator for use with a depth mapacquisition system for use in portable multifunction device inaccordance with some embodiments, in a tilted state. A mirror tiltactuator 500 includes a base member 502, which is fixedly mounted to ahousing such as supporting casing 515.

A magnet mount post 504 is fixedly mounted to the base member 502, formounting a mirror pivot 506, which in some embodiments includes amagnetic component. In some embodiments mirror pivot 506 is entirelyfabricated from permanently magnetic material. In other embodiments,mirror pivot 506 includes one or more components fabricated frompermanently magnetic material and one or more components fabricated fromnon-magnetic material. The mirror pivot 506 is moveably mounted to themagnet mount post 504. In some embodiments, a mirror 505 is fixedlymounted to the mirror pivot 506. In some embodiments, one or moremagnetic coils 510 a is fixedly mounted to the base member 502, forproviding one or more magnetic forces to adjust an orientation of themirror pivot 506.

In some embodiments, a ferrous slug 512 is fixedly mounted to the basemember 502 beneath the magnet mount post 504, for attracting andretaining the mirror pivot by means of a magnetic attraction forcebetween the mirror pivot and the ferrous slug.

In some embodiments, the mirror pivot 506 is configured as a magneticbarrel component, which is roughly cylindrical with a partially hollowinterior having one or more cavities, at least one of which is used forinsertion of the magnetic mount post 504. In some embodiments, themagnetic barrel component 506 is moveably mounted to the magnet mountpost 504. In some embodiments, the mirror 505 fixedly mounts to themirror pivot 506. In some embodiments, the magnetic barrel component 506includes a hollow interior space for mounting to the magnetic mount post504, and the magnetic barrel component 506 includes a permanent magnet.

In some embodiments, the mirror 505 fixedly mounts to the mirror pivot506 by means of a mounting post 514, fixedly mounted between the mirror505 and the mirror pivot 506. In some embodiments, the mirror 505fixedly mounts directly to the mirror pivot 506, for example by means ofan adhesive of a mechanical connection, without the need for mountingpost 514, fixedly mounted between the mirror 505 and the mirror pivot506. Some embodiments further include Hall sensors 516 for detectingmagnetic fields within the actuator 500 as well as a supporting casing515 and a printed circuit board casing 520 for connecting componentssuch as magnetic coils 510 and Hall sensors 516 for power and signaling.

In some embodiments, four non-moving coils 510 are disposed around foursides of the magnet 506, such that when driven with electric signalsdelivered through FPC casing 520, the four non-moving coils generateLorentz forces that tend to tilt the magnet 506 and the mirror 505 abouta post 504.

FIG. 6 depicts magnetic fields surrounding a mirror tilt actuator foruse with a depth map acquisition system for use in portablemultifunction device in accordance with some embodiments, in a tiltedstate. A magnetic coil 622 and magnet 624 are shown with a magneticfield 626 and a vector 626 normal to the surface of the mirror.

FIG. 7 illustrates a mirror tilt actuator for use with a depth mapacquisition system for use in portable multifunction device inaccordance with some embodiments, in a centered state. A mirror tiltactuator 700 includes a base member 702, which is fixedly mounted to ahousing such as supporting casing 717.

A magnet mount post 704 is fixedly mounted to the base member 702, formounting a mirror pivot 706, which in some embodiments includes amagnetic component. In some embodiments mirror pivot 706 is entirelyfabricated from permanently magnetic material. In other embodiments,mirror pivot 706 includes one or more components fabricated frompermanently magnetic material and one or more components fabricated fromnon-magnetic material. The mirror pivot 706 is moveably mounted to themagnet mount post 704. In some embodiments, a mirror 707 is fixedlymounted to the mirror pivot 706. In some embodiments, one or moremagnetic coils 710 is fixedly mounted to the base member 702, forproviding one or more magnetic forces to adjust an orientation of themirror pivot 706.

In some embodiments, a ferrous slug 712 is fixedly mounted to the basemember 702 beneath the magnet mount post 704, for attracting andretaining the mirror pivot by means of a magnetic attraction forcebetween the mirror pivot and the ferrous slug 712.

In some embodiments, the mirror pivot 706 is configured as a magneticbarrel component, which is roughly cylindrical with a partially hollowinterior having one or more cavities, at least one of which is used forinsertion of the magnetic mount post 704. In some embodiments, themagnetic barrel component 706 is moveably mounted to the magnet mountpost 704. In some embodiments, the mirror 707 fixedly mounts to themirror pivot 706. In some embodiments, the magnetic barrel component 706includes a hollow interior space for mounting to the magnetic mount post704, and the magnetic barrel component 706 includes a permanent magnet.

In some embodiments, the mirror 707 fixedly mounts to the mirror pivot706 by means of a mounting post 714, fixedly mounted between the mirror707 and the mirror pivot 706. In some embodiments, the mirror 707fixedly mounts directly to the mirror pivot 706, for example by means ofan adhesive of a mechanical connection, without the need for mountingpost 714 b, fixedly mounted between the mirror 707 and the mirror pivot706. Some embodiments further include Hall sensors 716 for detectingmagnetic fields within the actuator 700 as well as a supporting casing717 and a printed circuit board casing 720 for connecting componentssuch as magnetic coils 710 and Hall sensors 716 for power and signaling.

In some embodiments, four non-moving coils 710 are disposed around foursides of the magnet 706, such that when driven with electric signalsdelivered through FPC casing 720, the four non-moving coils generateLorentz forces that tend to tilt the magnet 706 and the mirror 707 abouta post 704.

FIG. 8 depicts magnetic fields surrounding a mirror tilt actuator foruse with a depth map acquisition system for use in portablemultifunction device in accordance with some embodiments, in a centeredstate. A magnetic coil 822 and magnet 824 are shown with a magneticfield 826 and a vector 828 normal to the surface of the mirror.

FIG. 9A depicts components of a mirror tilt actuator for use with adepth map acquisition system for use in portable multifunction device inaccordance with some embodiments. A pair of fast axis coils 902 and apair of slow axis coils 904 are arranged around a magnet 906.

FIG. 9B illustrates components of a mirror tilt actuator for use with adepth map acquisition system for use in portable multifunction device inaccordance with some embodiments. A pair of fast axis coils 908 and apair of slow axis coils 910 are arranged around a magnet 912. A pair ofHall sensors 912 is shown.

FIG. 9C depicts components of a mirror tilt actuator for use with adepth map acquisition system for use in portable multifunction device inaccordance with some embodiments. A pair of fast axis coils 914 and apair of slow axis coils 916 are arranged around a magnet 918.

FIG. 10 illustrates components of a mirror tilt actuator for use with adepth map acquisition system for use in portable multifunction device inaccordance with some embodiments. Slow axis coil termination 1002, aslow-axis coil 1004, a terminal 1006, an FPC (flexible printed circuit)ribbon with traces to a driver and processor 1008 and a fast-axis coiltermination 1010 are shown.

FIG. 11A illustrates components of a mirror tilt actuator for use with adepth map acquisition system for use in portable multifunction device inaccordance with some embodiments. A chassis or base member 1102 a isshown with a magnet mount post 1104 a and terminals 1118 a.

FIG. 11B depicts components of a mirror tilt actuator for use with adepth map acquisition system for use in portable multifunction device inaccordance with some embodiments. A chassis or base member 1102 b isshown with a magnet mount post 1104 b and terminals 1118 b. A magneticslug 1112 b is also visible.

FIG. 12 illustrates a mirror tilt actuator for use with a depth mapacquisition system for use in portable multifunction device inaccordance with some embodiments. A mirror tilt actuator 1200 includes abase member 1202, which is fixedly mounted to a housing such assupporting casing (not shown).

A magnet mount post (not shown) is fixedly mounted to the base member1302, for mounting a mirror pivot (magnet 1224), which in someembodiments includes a magnetic component. In some embodiments mirrorpivot (magnet 1224) is entirely fabricated from permanently magneticmaterial. In other embodiments, mirror pivot (magnet 1224) includes oneor more components fabricated from permanently magnetic material and oneor more components fabricated from non-magnetic material. The mirrorpivot (magnet 1224) is moveably mounted to the magnet mount post (notshown). In some embodiments, a mirror 1208 is fixedly mounted to themirror pivot (magnet 1224). In some embodiments, one or more magneticcoils 1210 is fixedly mounted to the base member 1202, for providing oneor more magnetic forces to adjust an orientation of the mirror pivot(magnet 1224).

In some embodiments, a ferrous slug (not shown) is fixedly mounted tothe base member 1202 beneath the magnet mount post (not shown), forattracting and retaining the mirror pivot (magnet 1224) by means of amagnetic attraction force between the mirror pivot (magnet 1224) and theferrous slug (not shown).

In some embodiments, the mirror pivot 506 (magnet 1224) is configured asa magnetic barrel component, which is roughly cylindrical with apartially hollow interior having one or more cavities, at least one ofwhich is used for insertion of the magnetic mount post (not shown). Insome embodiments, the magnetic barrel component (magnet 1224) ismoveably mounted to the magnet mount post (not shown). In someembodiments, the mirror 1208 fixedly mounts to the mirror pivot (notshown). In some embodiments, the magnetic barrel component (not shown)includes a hollow interior space (not shown) for mounting to themagnetic mount post (not shown), and the magnetic barrel component(magnet 1224) includes a permanent magnet.

In some embodiments, the mirror 1208 fixedly mounts to the mirror pivot(magnet 1224) by means of a mounting post (not used in the embodimentsshown in FIG. 12), fixedly mounted between the mirror 1208 and themirror pivot (magnet 1224). In some embodiments, the mirror 1208 fixedlymounts directly to the mirror pivot (magnet 1224), for example by meansof an adhesive of a mechanical connection, without the need for amounting post, fixedly mounted between the mirror 1208 and the mirrorpivot (magnet 1224). Some embodiments further include Hall sensors 1216for detecting magnetic fields within the actuator 1200 as well as asupporting casing (not shown) and a flexible printed circuit 1214 forconnecting components such as magnetic coils 1210 and Hall sensors 1216for power and signaling.

In some embodiments, four non-moving coils 1216 are disposed around foursides of the magnet 1224, such that when driven with electric signalsdelivered through FPC 1214, the four non-moving coils 1216 generateLorentz forces that tend to tilt the magnet 1224 and the mirror 1208about a post (not shown).

FIG. 13 depicts a mirror tilt actuator for use with a depth mapacquisition system for use in portable multifunction device inaccordance with some embodiments. A mirror tilt actuator 1300 includes abase member 1302, which is fixedly mounted to a housing such assupporting casing (not shown).

A magnet mount post (not shown) is fixedly mounted to the base member1302, for mounting a mirror pivot (not shown), which in some embodimentsincludes a magnetic component. In some embodiments mirror pivot (notshown) is entirely fabricated from permanently magnetic material. Inother embodiments, mirror pivot (not shown) includes one or morecomponents fabricated from permanently magnetic material and one or morecomponents fabricated from non-magnetic material. The mirror pivot (notshown) is moveably mounted to the magnet mount post (not shown). In someembodiments, a mirror 1324 is fixedly mounted to the mirror pivot (notshown). In some embodiments, one or more magnetic coils 1322 is fixedlymounted to the base member (not shown), for providing one or moremagnetic forces to adjust an orientation of the mirror pivot (notshown).

Some embodiments further include Hall sensors 1390 for detectingmagnetic fields within the actuator 1300 as well and a flexible printedcircuit 1320 for connecting components such as magnetic coils 1322 andHall sensors 1390 for power and signaling.

FIG. 14 illustrates a mirror tilt actuator for use with a depth mapacquisition system for use in portable multifunction device inaccordance with some embodiments. A mirror tilt actuator 1400 includes abase member 1402, which is fixedly mounted to a housing such assupporting casing (not shown).

A magnet mount post 1404 is fixedly mounted to the base member 1402, formounting a mirror pivot (magnet 1424), which in some embodimentsincludes a magnetic component. In some embodiments mirror pivot (magnet1424) is entirely fabricated from permanently magnetic material. Inother embodiments, mirror pivot (magnet 1424) includes one or morecomponents fabricated from permanently magnetic material and one or morecomponents fabricated from non-magnetic material. The mirror pivot(magnet 1424) is moveably mounted to the magnet mount post 1404. In someembodiments, a mirror 1408 is fixedly mounted to the mirror pivot 1424.In some embodiments, one or more magnetic coils 1410 is fixedly mountedto the base member 1402, for providing one or more magnetic forces toadjust an orientation of the mirror pivot (magnet 1424).

Some embodiments further include Hall sensors 1416 mounted to Hallsensor PCBs 1418 for detecting magnetic fields within the actuator 1400as well and a flexible printed circuit 1414 for connecting componentssuch as magnetic coils 1410 and Hall sensors 1416 for power andsignaling.

FIG. 15 depicts a mirror tilt actuator for use with a depth mapacquisition system for use in portable multifunction device inaccordance with some embodiments. A mirror tilt actuator 1500 includes abase member 1502, which is fixedly mounted to a housing such assupporting casing (not shown).

A magnet mount post (not shown) is fixedly mounted to the base member1502, for mounting a mirror pivot (magnet 1524), which in someembodiments includes a magnetic component. In some embodiments mirrorpivot (magnet 1524) is entirely fabricated from permanently magneticmaterial. In other embodiments, mirror pivot (magnet 1524) includes oneor more components fabricated from permanently magnetic material and oneor more components fabricated from non-magnetic material. The mirrorpivot (magnet 1524) is moveably mounted to the magnet mount post (notshown). In some embodiments, a mirror 1508 is fixedly mounted to themirror pivot (magnet 1524). In some embodiments, one or more magneticcoils 1510 is fixedly mounted to the base member (not shown), forproviding one or more magnetic forces to adjust an orientation of themirror pivot (magnet 1524).

Some embodiments further include Hall sensors (not shown) for detectingmagnetic fields within the actuator 1500 as well and a flexible printedcircuit 1515 for connecting components such as magnetic coils 1510 andHall sensors (not shown) to a driver circuit 1504 for power andsignaling.

FIG. 16 illustrates operation of a mirror tilt actuator for use with adepth map acquisition system for use in portable multifunction device inaccordance with some embodiments. Some embodiments move the mirror in aspiral motion pattern 1600 to provide coverage of an area in a depthmap.

FIG. 17 depicts a schematic of a mirror tilt actuator for use with adepth map acquisition system for use in portable multifunction device inaccordance with some embodiments. A mirror tilt actuator 1700 includes abase member 1702, which is fixedly mounted to a housing such assupporting casing (not shown).

A magnet mount post (not shown) is fixedly mounted to the base member1702, for mounting a mirror pivot (magnet 1724), which in someembodiments includes a magnetic component. In some embodiments mirrorpivot (magnet 1724) is entirely fabricated from permanently magneticmaterial. In other embodiments, mirror pivot (magnet 1724) includes oneor more components fabricated from permanently magnetic material and oneor more components fabricated from non-magnetic material. The mirrorpivot (magnet 1724) is moveably mounted to the magnet mount post (notshown). In some embodiments, a mirror (not shown) is fixedly mounted tothe mirror pivot 1724. In some embodiments, one or more magnetic coils1710 is fixedly mounted to the base member 1702, for providing one ormore magnetic forces to adjust an orientation of the mirror pivot(magnet 1724).

Some embodiments further include Hall sensors (not shown) mounted toHall sensor PCBs 1718 for detecting magnetic fields within the actuator1700 and a flexible printed circuit 1714 for connecting components suchas magnetic coils 1710 and Hall sensors (not shown) for power andsignaling.

FIG. 18 illustrates a mirror tilt actuator for use with a depth mapacquisition system for use in portable multifunction device inaccordance with some embodiments. A mirror tilt actuator 1800 includes abase member 1802.

A magnet mount post (not shown) is fixedly mounted to the base member1802, for mounting a mirror pivot (magnet 1824), which in someembodiments includes a magnetic component. In some embodiments mirrorpivot (magnet 1824) is entirely fabricated from permanently magneticmaterial. In other embodiments, mirror pivot (magnet 1824) includes oneor more components fabricated from permanently magnetic material and oneor more components fabricated from non-magnetic material. The mirrorpivot (magnet 1824) is moveably mounted to the magnet mount post (notshown). In some embodiments, a mirror 1808 is fixedly mounted to themirror pivot 1824. In some embodiments, one or more magnetic coils 1810is fixedly mounted to the base member 1802, for providing one or moremagnetic forces to adjust an orientation of the mirror pivot (magnet1824).

Some embodiments further include Hall sensors 1816 mounted to Hallsensor PCBs 1818 for detecting magnetic fields within the actuator 1800as well and a flexible printed circuit (not shown) for connectingcomponents such as magnetic coils 1810 and Hall sensors 1816 for powerand signaling.

FIG. 19 depicts a mirror tilt actuator for use with a depth mapacquisition system for use in portable multifunction device inaccordance with some embodiments. A mirror tilt actuator 1900 includes abase member 1902.

A magnet mount post with a rounded tip 1904 is fixedly mounted to thebase member 1902, for mounting a mirror pivot (magnet 1924), which insome embodiments includes a magnetic component. In some embodimentsmirror pivot (magnet 1924) is entirely fabricated from permanentlymagnetic material. In other embodiments, mirror pivot (magnet 1924)includes one or more components fabricated from permanently magneticmaterial and one or more components fabricated from non-magneticmaterial. The mirror pivot (magnet 1924) is moveably mounted to themagnet mount post 1904. In some embodiments, a mirror 1908 is fixedlymounted to the mirror pivot 1924. In some embodiments, one or moremagnetic coils 1910 is fixedly mounted to the base member 1902, forproviding one or more magnetic forces to adjust an orientation of themirror pivot (magnet 1924).

Some embodiments further include Hall sensors 1916 mounted to Hallsensor PCBs 1918 for detecting magnetic fields within the actuator 1900as well and a flexible printed circuit 1919 for connecting componentssuch as magnetic coils 1910 and Hall sensors 1916 for power andsignaling. A ferrous slug 1910 is included for attracting magnet 1924 tohold it in place within actuator 1900.

Example Operations

FIG. 20 is a flow diagram illustrating one embodiment of a method foroperating a depth map acquisition system according to some embodiments.A light source emits light to illuminate objects in a scene subject todepth mapping (2010). The light is reflected at an outgoing angle usinga mirror fixedly mounted to a mirror tilt actuator, for reflecting lightfrom the light source to one or more objects in the scene (2020). Anoutgoing angle of the light using a partially transparent photosensitivedetector in a direct path of the light (2030). A detector mounted withinthe housing receives reflected light from the objects (2040). Based onthe reflected light, a depth map of the scene is constructed (2050).

FIG. 21 is a flow diagram illustrating one embodiment of a method foroperating a depth map acquisition system according to some embodiments.A light source emitting light to illuminate objects in a scene subjectto depth mapping (2110). The light is reflected at an outgoing angleusing a mirror fixedly mounted to a mirror tilt actuator, for reflectinglight from the light source to one or more objects in the scene (2120).An outgoing angle of the light is measured using a partially transparentphotosensitive detector in a direct path of the light (2130). A detectormounted within the housing, receives reflected light from the objects(2140). Based on the reflected light, a depth map of the scene isconstructed (2150). The mirror tilt actuator adjusts a position of themirror to adjust the outgoing angle (2160).

FIG. 22 is a flow diagram illustrating one embodiment of a method foroperating a depth map acquisition system according to some embodiments.A light source emits light to illuminate objects in a scene subject todepth mapping (2210). The light is reflected at an outgoing angle usinga mirror fixedly mounted to a mirror tilt actuator, for reflecting lightfrom the light source to one or more objects in the scene (2220). Anoutgoing angle of the light is measured using a partially transparentphotosensitive detector in a direct path of the light (2230). A detectormounted within the housing receives reflected light from the objects(2240). Based on the reflected light, a depth map of the scene isconstructed (2250). The mirror tilt actuator adjusts a position of themirror to adjust the outgoing angle using one or more magnetic coilsfixedly mounted to a base member of the mirror tilt actuator, ininteraction with a mirror pivot comprises a magnetic barrel componentmoveably mounted to the magnet mount post including a hollow interiorspace for mounting to the post, and a permanent magnet (2260).

FIG. 23 is a flow diagram illustrating one embodiment of a method foroperating a depth map acquisition system according to some embodiments.A light source emits light to illuminate objects in a scene subject todepth mapping (2310). The light is reflected at an outgoing angle usinga mirror fixedly mounted to a mirror tilt actuator, for reflecting lightfrom the light source to one or more objects in the scene (2320). Anoutgoing angle of the light is measured using a partially transparentphotosensitive detector in a direct path of the light (2330). A detectormounted within the housing receives reflected light from the objects(2340). Based on the reflected light, a depth map of the scene isconstructed (2350). The mirror tilt actuator adjusts a position of themirror to adjust the outgoing angle based on calculations of a closedloop feedback system in response to the measuring the outgoing angle ofthe light using the partially transparent photosensitive detector(2360).

FIG. 24 is a flow diagram illustrating one embodiment of a method foroperating a depth map acquisition system according to some embodiments.A light source emits light to illuminate objects in a scene subject todepth mapping (2410). The light is reflected at an outgoing angle usinga mirror fixedly mounted to a mirror tilt actuator, for reflecting lightfrom the light source to one or more objects in the scene (2420). Anoutgoing angle of the light is measured using a partially transparentphotosensitive detector in a direct path of the light (2430). A detectormounted within the housing, receives reflected light from the objects(2440). Based on the reflected light, a depth map of the scene isconstructed (2450). The mirror tilt actuator adjusts a position of themirror to adjust the outgoing angle by driving electricity though one ormore coils disposed about the sides of the mirror pivot to interact witha fringing field of the mirror pivot, wherein the fringing fieldincludes components of magnetic field in the appropriate directions todeliver the Lorentz forces, when the coils are electrically driven.(2460).

Example Computer System

FIG. 25 illustrates computer system 2500 that is configured to executeor control any or all of the embodiments described above, especiallywhen embodied as depth map program instructions 2525 or programinstructions 2522. In different embodiments, computer system 2500 may beany of various types of devices, including, but not limited to, acomputer embedded in a vehicle, a computer embedded in an appliance, apersonal computer system, desktop computer, laptop, notebook, tablet,phone, slate, or netbook computer, mainframe computer system, handheldcomputer, workstation, network computer, a camera, a set top box, amobile device, a consumer device, video game console, handheld videogame device, application server, storage device, a television, a videorecording device, a peripheral device such as a switch, modem, router,or in general any type of computing or electronic device.

Various embodiments of a system and method for mirror tilt actuation, asdescribed herein, may be executed on one or more computer systems 2500,which may interact with various other devices. Note that any component,action, or functionality described above with respect to FIGS. 20-24 maybe implemented on one or more computers configured as computer system2500 of FIG. 25, according to various embodiments. In the illustratedembodiment, computer system 2500 includes one or more processors 2510coupled to a system memory 2520 via an input/output (I/O) interface2530. Computer system 2500 further includes a network interface 2540coupled to I/O interface 2530, and one or more input/output devices2550, such as cursor control device 2560, keyboard 2550, and display(s)2580. In some cases, it is contemplated that embodiments may beimplemented using a single instance of computer system 2500, while inother embodiments multiple such systems, or multiple nodes making upcomputer system 2500, may be configured to host different portions orinstances of embodiments. For example, in one embodiment some elementsmay be implemented via one or more nodes of computer system 2500 thatare distinct from those nodes implementing other elements.

In various embodiments, computer system 2500 may be a uniprocessorsystem including one processor 2510, or a multiprocessor systemincluding several processors 2510 (e.g., two, four, eight, or anothersuitable number). Processors 2510 may be any suitable processor capableof executing instructions. For example, in various embodimentsprocessors 2510 may be general-purpose or embedded processorsimplementing any of a variety of instruction set architectures (ISAs),such as the x86, PowerPC, SPARC, or MIPS ISAs, or any other suitableISA. In multiprocessor systems, each of processors 2510 may commonly,but not necessarily, implement the same ISA.

System memory 2520 may be configured to store program instructions 2522and/or existing state information and ownership transition conditiondata 2525 accessible by processor 2510. In various embodiments, systemmemory 2520 may be implemented using any suitable memory technology,such as static random access memory (SRAM), synchronous dynamic RAM(SDRAM), nonvolatile/Flash-type memory, or any other type of memory. Inthe illustrated embodiment, program instructions 2522 may be configuredto implement a mapping application 2524 incorporating any of thefunctionality described above. Additionally, existing state informationand ownership transition condition data 2525 of memory 2520 may includeany of the information or data structures described above. In someembodiments, program instructions and/or data may be received, sent orstored upon different types of computer-accessible media or on similarmedia separate from system memory 2520 or computer system 2500. Whilecomputer system 2500 is described as implementing the functionality offunctional blocks of previous Figures, any of the functionalitydescribed herein may be implemented via such a computer system.

In one embodiment, I/O interface 2530 may be configured to coordinateI/O traffic between processor 2510, system memory 2520, and anyperipheral devices in the device, including network interface 2540 orother peripheral interfaces, such as input/output devices 2550. In someembodiments, I/O interface 2530 may perform any necessary protocol,timing or other data transformations to convert data signals from onecomponent (e.g., system memory 2520) into a format suitable for use byanother component (e.g., processor 2510). In some embodiments, I/Ointerface 2530 may include support for devices attached through varioustypes of peripheral buses, such as a variant of the Peripheral ComponentInterconnect (PCI) bus standard or the Universal Serial Bus (USB)standard, for example. In some embodiments, the function of I/Ointerface 2530 may be split into two or more separate components, suchas a north bridge and a south bridge, for example. Also, in someembodiments some or all of the functionality of I/O interface 2530, suchas an interface to system memory 2520, may be incorporated directly intoprocessor 2510.

Network interface 2540 may be configured to allow data to be exchangedbetween computer system 2500 and other devices attached to a network2585 (e.g., carrier or agent devices) or between nodes of computersystem 2500. Network 2585 may in various embodiments include one or morenetworks including but not limited to Local Area Networks (LANs) (e.g.,an Ethernet or corporate network), Wide Area Networks (WANs) (e.g., theInternet), wireless data networks, some other electronic data network,or some combination thereof. In various embodiments, network interface2540 may support communication via wired or wireless general datanetworks, such as any suitable type of Ethernet network, for example;via telecommunications/telephony networks such as analog voice networksor digital fiber communications networks; via storage area networks suchas Fibre Channel SANs, or via any other suitable type of network and/orprotocol.

Input/output devices 2550 may, in some embodiments, include one or moredisplay terminals, keyboards, keypads, touchpads, scanning devices,voice or optical recognition devices, or any other devices suitable forentering or accessing data by one or more computer systems 2500.Multiple input/output devices 2550 may be present in computer system2500 or may be distributed on various nodes of computer system 2500. Insome embodiments, similar input/output devices may be separate fromcomputer system 2500 and may interact with one or more nodes of computersystem 2500 through a wired or wireless connection, such as over networkinterface 2540.

As shown in FIG. 25, memory 2520 may include program instructions 2522,which may be processor-executable to implement any element or actiondescribed above. In one embodiment, the program instructions mayimplement the methods described above, such as the methods illustratedby FIG. 8. In other embodiments, different elements and data may beincluded. Note that data 2525 may include any data or informationdescribed above.

Those skilled in the art will appreciate that computer system 2500 ismerely illustrative and is not intended to limit the scope ofembodiments. In particular, the computer system and devices may includeany combination of hardware or software that can perform the indicatedfunctions, including computers, network devices, Internet appliances,PDAs, wireless phones, pagers, etc. Computer system 2500 may also beconnected to other devices that are not illustrated, or instead mayoperate as a stand-alone system. In addition, the functionality providedby the illustrated components may in some embodiments be combined infewer components or distributed in additional components. Similarly, insome embodiments, the functionality of some of the illustratedcomponents may not be provided and/or other additional functionality maybe available.

Those skilled in the art will also appreciate that, while various itemsare illustrated as being stored in memory or on storage while beingused, these items or portions of them may be transferred between memoryand other storage devices for purposes of memory management and dataintegrity. Alternatively, in other embodiments some or all of thesoftware components may execute in memory on another device andcommunicate with the illustrated computer system via inter-computercommunication. Some or all of the system components or data structuresmay also be stored (e.g., as instructions or structured data) on acomputer-accessible medium or a portable article to be read by anappropriate drive, various examples of which are described above. Insome embodiments, instructions stored on a computer-accessible mediumseparate from computer system 2500 may be transmitted to computer system2500 via transmission media or signals such as electrical,electromagnetic, or digital signals, conveyed via a communication mediumsuch as a network and/or a wireless link. Various embodiments mayfurther include receiving, sending or storing instructions and/or dataimplemented in accordance with the foregoing description upon acomputer-accessible medium. Generally speaking, a computer-accessiblemedium may include a non-transitory, computer-readable storage medium ormemory medium such as magnetic or optical media, e.g., disk orDVD/CD-ROM, volatile or non-volatile media such as RAM (e.g. SDRAM, DDR,RDRAM, SRAM, etc.), ROM, etc. In some embodiments, a computer-accessiblemedium may include transmission media or signals such as electrical,electromagnetic, or digital signals, conveyed via a communication mediumsuch as network and/or a wireless link.

The methods described herein may be implemented in software, hardware,or a combination thereof, in different embodiments. In addition, theorder of the blocks of the methods may be changed, and various elementsmay be added, reordered, combined, omitted, modified, etc. Variousmodifications and changes may be made as would be obvious to a personskilled in the art having the benefit of this disclosure. The variousembodiments described herein are meant to be illustrative and notlimiting. Many variations, modifications, additions, and improvementsare possible. Accordingly, plural instances may be provided forcomponents described herein as a single instance. Boundaries betweenvarious components, operations and data stores are somewhat arbitrary,and particular operations are illustrated in the context of specificillustrative configurations. Other allocations of functionality areenvisioned and may fall within the scope of claims that follow. Finally,structures and functionality presented as discrete components in theexemplary configurations may be implemented as a combined structure orcomponent. These and other variations, modifications, additions, andimprovements may fall within the scope of embodiments as defined in theclaims that follow.

The invention claimed is:
 1. A depth map acquisition system, comprising:a housing; a light source for emitting light to illuminate objects in ascene subject to depth mapping, fixedly mounted to the housing; a mirrortilt actuator, fixedly mounted to the housing, for tilting a mirrorfixedly mounted to the mirror tilt actuator; the mirror, fixedly mountedto the mirror tilt actuator, for reflecting outgoing light from thelight source to the objects; and a partially transparent photosensitivedetector in the direct path of the outgoing light from the mirror to theobjects; wherein the depth map acquisition system is to construct, basedat least in part on reflected light from the objects, a depth map of thescene.
 2. The depth map acquisition system of claim 1, wherein themirror tilt actuator comprises: a base member, fixedly mounted to thehousing; a magnet mount post, fixedly mounted to the base member, formounting a mirror pivot; the mirror pivot, comprising a magneticcomponent, moveably mounted to the magnet mount post, wherein the mirrorfixedly mounts to the mirror pivot; and one or more magnetic coils,fixedly mounted to the base member, for providing one or more magneticforces to adjust an orientation of the mirror pivot.
 3. The depth mapacquisition system of claim 1, wherein the mirror tilt actuatorcomprises: a base member, fixedly mounted to the housing; a magnet mountpost, fixedly mounted to the base member, for mounting a mirror pivot;the mirror pivot, comprising a magnetic component, moveably mounted tothe magnet mount post, wherein the mirror fixedly mounts to the mirrorpivot; a ferrous slug, fixedly mounted to the base member beneath thepost magnet mount post, for attracting and retaining the mirror pivot bymeans of a magnetic attraction force between the mirror pivot and theferrous slug; and one or more magnetic coils, fixedly mounted to thebase member, for providing one or more magnetic forces to adjust anorientation of the mirror pivot.
 4. The depth map acquisition system ofclaim 1, wherein the mirror tilt actuator comprises: a base member,fixedly mounted to the housing; a magnet mount post, fixedly mounted tothe base member, for mounting a mirror pivot; the mirror pivot,comprising a magnetic barrel component, wherein: the magnetic barrelcomponent is moveably mounted to the magnet mount post, wherein themirror fixedly mounts to the mirror pivot, the magnetic barrel componentcomprises a hollow interior space for mounting to the post, and themagnetic barrel component comprises a permanent magnet; and one or moremagnetic coils, fixedly mounted to the base member, for providing one ormore magnetic forces to adjust an orientation of the mirror pivot. 5.The depth map acquisition system of claim 1, wherein the mirror tiltactuator comprises: a base member, fixedly mounted to the housing; amagnet mount post, fixedly mounted to the base member, for mounting amirror pivot; the mirror pivot, comprising a magnetic component,moveably mounted to the magnet mount post, wherein the mirror fixedlymounts to the mirror pivot by means of a mounting post fixedly mountedbetween the mirror and the mirror pivot; and one or more magnetic coils,fixedly mounted to the base member, for providing one or more magneticforces to adjust an orientation of the mirror pivot.
 6. The depth mapacquisition system of claim 1, wherein the partially transparentphotosensitive detector in the direct path of the outgoing light fromthe mirror to the objects further comprises a partially transparentphotosensitive detector mounted in the cover glass of a device in whichthe depth map acquisition system is mounted.
 7. The depth mapacquisition system of claim 1, wherein the partially transparentphotosensitive detector in the direct path of the outgoing light fromthe mirror to the objects further comprises a photosensitive detector inthe direct path of a beam of light to a scene to determine the outgoingangle of such light for use in either reconstruction or acquisition of adigital representation of the scene.
 8. The depth map acquisition systemof claim 1, wherein the mirror tilt actuator comprises: a moving magnet,and four non-moving coils disposed around four sides of the magnet,wherein when driven with electric signals, the four non-moving coilsgenerate Lorentz forces that tend to tilt the magnet and the mirrorabout a pivot.
 9. The depth map acquisition system of claim 1, furtherwherein the mirror tilt actuator comprises: a base member, fixedlymounted to the housing; a magnet mount post, fixedly mounted to the basemember, for mounting a mirror pivot; one or more magnetic coils, fixedlymounted to the base member, for providing one or more magnetic forces toadjust an orientation of the mirror pivot; and the mirror pivot,wherein: the mirror pivot comprises a magnetic barrel component, and afringing field of the moving magnet includes components of magneticfield in the appropriate directions to deliver the Lorentz forces, whenthe coils are electrically driven.
 10. A method for generating a depthmap, the method comprising: a light source emitting light to illuminateobjects in a scene subject to depth mapping; reflecting the light at anoutgoing angle using a mirror fixedly mounted to a mirror tilt actuator,for reflecting outgoing light from the light source to one or moreobjects in the scene; measuring an outgoing angle of the light using apartially transparent photosensitive detector in a direct path of theoutgoing light; a detector mounted within the housing, receivingreflected light from the objects; and based on the reflected light,constructing a depth map of the scene.
 11. The method of claim 10,further comprising: the mirror tilt actuator adjusting a position of themirror to adjust the outgoing angle.
 12. The method of claim 10, furthercomprising: the mirror tilt actuator adjusting a position of the mirrorto adjust the outgoing angle by one or more magnetic coils providing oneor more magnetic forces to adjust an orientation of a mirror pivot,wherein the one or more magnetic coils are fixedly mounted to a basemember of the mirror tilt actuator, the mirror pivot comprises amagnetic barrel component, the magnetic barrel component is moveablymounted to the magnet mount post, wherein the mirror fixedly mounts tothe mirror pivot, the magnetic barrel component comprises a hollowinterior space for mounting to the post, and the magnetic barrelcomponent comprises a permanent magnet.
 13. The method of claim 10,further comprising: the mirror tilt actuator adjusting a position of themirror to adjust the outgoing angle based on calculations of a closedloop feedback system in response to the measuring the outgoing angle ofthe light using the partially transparent photosensitive detector. 14.The method of claim 10, further comprising the mirror tilt actuatoradjusting a position of the mirror to adjust the outgoing angle of thelight by driving electricity though one or more coils disposed about thesides of the mirror pivot to interact with a fringing field of themirror pivot, wherein the fringing field includes components of magneticfield in the appropriate directions to deliver the Lorentz forces, whenthe coils are electrically driven.
 15. The method of claim 10, furthercomprising: the mirror tilt actuator adjusting a position of the mirrorto adjust the outgoing angle by one or more magnetic coils providing oneor more magnetic forces to adjust an orientation of a mirror pivot,wherein: the one or more magnetic coils are fixedly mounted to a basemember of the mirror tilt actuator, the mirror pivot comprises amagnetic barrel component, and the magnetic barrel component is moveablymounted to the magnet mount post, wherein the mirror fixedly mounts tothe mirror pivot.
 16. A mirror tilt actuator, comprising: a base member,fixedly mounted to a housing; a magnet mount post, fixedly mounted tothe base member, for mounting a mirror pivot; the mirror pivot,comprising a magnetic component, moveably mounted to the magnet mountpost, wherein the mirror fixedly mounts to the mirror pivot; and atleast two magnetic coils, fixedly mounted to the base member, forproviding at least two magnetic forces to adjust an orientation of themirror pivot about at least two orthogonal axes relative to a pivotlocation.
 17. The mirror tilt actuator of claim 16, wherein the mirrortilt actuator further comprises: a ferrous slug, fixedly mounted to thebase member beneath the post magnet mount post, for attracting andretaining the mirror pivot by means of a magnetic attraction forcebetween the mirror pivot and the ferrous slug.
 18. The mirror tiltactuator of claim 16, wherein: the mirror pivot further comprises amagnetic barrel component, the magnetic barrel component is moveablymounted to the magnet mount post, the mirror fixedly mounts to themirror pivot, the magnetic barrel component comprises a hollow interiorspace for mounting to the post, and the magnetic barrel componentcomprises a permanent magnet.
 19. The mirror tilt actuator of claim 16,wherein the mirror fixedly mounts to the mirror pivot by means of amounting post fixedly mounted between the mirror and the mirror pivot.20. The mirror tilt actuator of claim 16, further comprising fournon-moving coils disposed around four sides of the magnet, wherein whendriven with electric signals, the four non-moving coils generate Lorentzforces that tend to tilt the magnet and the mirror about the post in atleast two orthogonal axes relative to a pivot location.